阅读说明：本技术 适用于弓网受流系统的整车控制方法、弓网受流系统 (Whole vehicle control method suitable for bow net current collection system and bow net current collection system ) 是由 张杰家 李泰祥 杨阳 贾腾飞 冯冬冬 刘春欢 于 2021-01-04 设计创作，主要内容包括：本发明涉及一种适用于弓网受流系统的整车控制方法、弓网受流系统,所述弓网受流系统中采用受电弓与电池系统的双源供电系统,整车控制方法包括：实时监测整车运行过程中的车速变化、车辆驱动需求功率的大小及电池系统剩余电量；根据车速变化、车辆驱动需求功率及电池系统剩余电量,确定车辆处于不同运行工况的受电弓与电池系统供电状态。本发明提供的整车控制方法,解决了采用弓网受流系统的车辆在无接触网段和有接触网段的多源能量智能切换问题,同时在车辆制动时,亦可实现制动能量回收,提高能量利用率；同时实现车辆信息与远端终端系统交互,提高整车的智能化管理,提高车辆运行的安全性和运输效率。(The invention relates to a finished automobile control method suitable for a pantograph-catenary current collection system and the pantograph-catenary current collection system, wherein the pantograph-catenary current collection system adopts a double-source power supply system of a pantograph and a battery system, and the finished automobile control method comprises the following steps: monitoring the vehicle speed change, the magnitude of the vehicle driving required power and the residual electric quantity of a battery system in the whole vehicle running process in real time; and determining the power supply states of the pantograph and the battery system of the vehicle under different running working conditions according to the vehicle speed change, the vehicle driving required power and the residual electric quantity of the battery system. The whole vehicle control method provided by the invention solves the problem of intelligent multi-source energy switching of a vehicle adopting a pantograph-catenary current collection system in a non-contact network segment and a contact network segment, and meanwhile, when the vehicle brakes, the braking energy recovery can be realized, and the energy utilization rate is improved; meanwhile, the interaction between the vehicle information and a remote terminal system is realized, the intelligent management of the whole vehicle is improved, and the running safety and the transportation efficiency of the vehicle are improved.)

1. A whole vehicle control method suitable for a pantograph-catenary current collection system, wherein a double-source power supply system of a pantograph and a battery system is adopted in the pantograph-catenary current collection system, and the method is characterized by comprising the following steps:

monitoring the vehicle speed change, the magnitude of the vehicle driving required power and the residual electric quantity of a battery system in the whole vehicle running process in real time;

and determining the power supply states of the pantograph and the battery system of the vehicle under different running working conditions according to the vehicle speed change, the vehicle driving required power and the residual electric quantity of the battery system.

2. The vehicle control method applicable to the bow net current collecting system according to claim 1, wherein if the current vehicle is in a plus stateThe required power P of the vehicle drive is further judged under the working condition of fast running_{Need to}Maximum power supply power P of pantograph contact network system_{Supply max}The size of (d);

setting a first upper limit value of the residual electric quantity SOC of the battery system as SOC_max1The first lower limit value of the residual charge SOC is SOC_min1，SOC_max1＞SOC_min1；

If P_{Need to}≤P_{Supply max}Controlling the pantograph to lift and connect with a contact network for power supply, simultaneously monitoring the SOC value of the residual electric quantity of the battery system in real time, and if the SOC value of the residual electric quantity of the battery system is less than or equal to the SOC_max1Simultaneously controlling the pantograph to be communicated with the battery system to reversely charge the battery system;

if P_{Need to}＞P_{Supply max}Further judging the residual electric quantity SOC of the battery system; if the SOC of the residual electric quantity of the battery system is less than or equal to the SOC_min1Warning to indicate that the electric quantity is insufficient; if SOC > SOC_min1Controlling the pantograph to lift and connect with a contact network for power supply, and simultaneously controlling the battery system to be in a conducting state and discharge forward to P_{Need to}≤P_{Supply max}Or SOC is less than or equal to SOC_min1Status.

3. The vehicle control method suitable for the pantograph-catenary current collecting system according to claim 2, wherein if the current vehicle is in a constant-speed running condition, the vehicle enters an automatic cruise mode, the pantograph is controlled to rise and is connected with a catenary for continuous power supply, the SOC value of the residual electric quantity of the battery system is monitored in real time, and if the SOC is less than or equal to the SOC value_max1And simultaneously controlling the pantograph to be communicated with the battery system to reversely charge the battery system.

4. The vehicle control method applicable to the pantograph-catenary current-collecting system according to claim 2 or 3, wherein if the current vehicle is in a braking working condition, the pantograph is controlled to be in a power-off and non-power-supply state, the SOC value of the residual electric quantity of the battery system is judged, and if the SOC is less than or equal to the SOC value_max2If so, controlling the conduction of the battery system, recovering the braking energy of the vehicle, and setting a second upper limit value of the residual electric quantity SOC of the battery system as the SOC_max2And SOC_max2＞SOC_max1。

5. The vehicle control method applicable to the pantograph-catenary current-collecting system of claim 4, wherein when the vehicle is in a braking condition, if SOC > SOC_max2Mechanical braking is adopted; and if the vehicle speed is finally braked to 0, the vehicle is temporarily stopped at the moment, the pantograph and the battery system are controlled to be in a disconnected and non-power-supply state, the pantograph lifting and the contact network are kept connected, and the temporary stopping state of the vehicle is uploaded to the terminal system.

6. The vehicle control method applicable to the bow net current collecting system according to claim 2, wherein if the current vehicle is in a starting state, namely the initial speed is 0, the remaining capacity SOC of the battery system is further judged; if SOC is less than or equal to SOC_min2Prompting that external charging is required; if SOC > SOC_min2Controlling the battery system to be in a conducting state for positive discharge, and entering a battery system power supply mode; when the condition that the vehicle enters the power supply range of the contact net is monitored, controlling the pantograph to lift to be connected with the contact net for power supply, controlling the battery system to be in a disconnected and non-power-supply state, and setting a second lower limit value of the residual electric quantity SOC of the battery system as the SOC_min2And SOC_max1＞SOC_min2＞SOC_min1。

7. The vehicle control method suitable for the pantograph-catenary current-collecting system according to claim 1, wherein the vehicle wirelessly interacts with the terminal system in real time in the whole running process, and when the vehicle enters a contactless network segment, the vehicle is actively triggered by a wireless base station signal to control the pantograph to be in a pantograph-descending disconnection non-power-supply state, and simultaneously control the battery system to be in a conducting state for positive discharge to enter a battery system power-supply mode; and when the condition that the vehicle enters the power supply range of the contact net is monitored, controlling the pantograph to lift to be connected with the contact net for power supply, and controlling the battery system to be in a disconnected and non-power supply state.

8. The vehicle control method applicable to the pantograph-catenary current collector system according to claim 1, wherein when overtaking is required for vehicles on the same running line, a driver actively triggers pantograph lowering operation to control the pantograph to be in a pantograph lowering off non-power supply state, and simultaneously controls the battery system to be in a conducting state to discharge forward to enter a battery system power supply mode; and when the condition that the vehicle enters the power supply range of the contact net is monitored, controlling the pantograph to lift to be connected with the contact net for power supply, and controlling the battery system to be in a disconnected and non-power supply state.

9. The vehicle control method applicable to the pantograph-catenary current collecting system according to claim 1, wherein when a power failure occurs due to a fault of a catenary, the terminal system automatically performs emergency treatment to control the pantograph to be in a pantograph-descending disconnected non-power supply state and control the battery system to be in a conducting state to discharge forward to enter a battery system power supply mode.

10. A pantograph current collection system, which employs the vehicle control method according to any one of claims 1 to 9, characterized by comprising: the system comprises a vehicle control unit, a contact network, a pantograph controller, a DC/DC converter, a high-voltage distribution box, a bidirectional DC/DC converter, a battery system, a DC/AC controller and a driving motor;

the whole vehicle controller is connected and communicated with the pantograph controller, the DC/DC converter, the bidirectional DC/DC converter, the high-voltage distribution box and the DC/AC controller through a CAN network;

the pantograph controller is connected with the pantograph and controls the connection state of the pantograph and a contact network, and the pantograph is connected with the high-voltage distribution box through the DC/DC converter; the battery system is connected with the high-voltage distribution box through the bidirectional DC/DC converter and forms a double-source power supply system with the pantograph power supply system; the high-voltage distribution box is connected with a driving motor through a DC/AC controller; the vehicle control unit controls the power supply state of the vehicle during running through the power supply control circuit which controls the high-voltage distribution box.

11. The pantograph current collector system of claim 10, wherein the power supply control circuit comprises contactors K1, K2 and K3, contactor K1 is connected to the pantograph power supply system, contactor K2 is connected to the battery power supply system, and contactors K1, K2 are connected in parallel and then connected in series to contactor K3 and then to the DC/AC controller; and the vehicle control unit controls the power supply state of the vehicle in running by controlling the closing state of each contactor.

12. The pantograph-catenary current receiving system according to claim 10 or 11, further comprising a wireless module, a video monitoring system for detecting the state of the pantograph, a power detection module for detecting required driving power, a vehicle speed monitoring module for detecting the running speed of the whole vehicle, and a BMS system for detecting the residual capacity SOC of a battery system of the battery system, wherein the BMS system is connected with the battery system; the wireless module, the video monitoring system, the power detection module, the vehicle speed monitoring module and the BMS are all connected and communicated with the vehicle control unit, and the vehicle control unit is communicated with the terminal system through the wireless module.

Technical Field

The invention belongs to the technical field of multi-source power control, and particularly relates to a whole vehicle control method suitable for a bow net current collecting system and the bow net current collecting system.

Background

For the existing vehicle adopting the pantograph-catenary current collection system and powered by double sources, the vehicle-mounted battery is equipped, so that the vehicle can be connected with a catenary through a pantograph for power supply running, or powered by a battery system, the vehicle can run off line, and the problem of poor maneuverability of the traditional trolley bus is solved. However, there is no whole vehicle control method designed for multi-source power supply of the pantograph current collection system at present, and the vehicle often has long running time and complex running condition in the long-distance running process, so that the whole vehicle control of the pantograph current collection system becomes a technical key to be solved.

Disclosure of Invention

The invention provides a whole vehicle control method suitable for a pantograph-catenary current collecting system and the pantograph-catenary current collecting system aiming at the pantograph-catenary current collecting system, and solves the problem of multi-source energy intelligent switching of a vehicle adopting the pantograph-catenary current collecting system in a non-contact network segment and a contact network segment.

In order to achieve the above object, the present invention provides a vehicle control method suitable for a pantograph-catenary current collecting system, in which a dual-source power supply system of a pantograph and a battery system is adopted, including:

monitoring the vehicle speed change, the magnitude of the vehicle driving required power and the residual electric quantity of a battery system in the whole vehicle running process in real time;

and determining the power supply states of the pantograph and the battery system of the vehicle under different running working conditions according to the vehicle speed change, the vehicle driving required power and the residual electric quantity of the battery system.

Preferably, if the current vehicle is in an acceleration running working condition, the vehicle driving required power P is further judged_{Need to}Maximum power supply power P of pantograph contact network system_{Supply max}The size of (d);

setting a first upper limit value of the residual electric quantity SOC of the battery system as SOC_max1The first lower limit value of the residual charge SOC is SOC_min1，SOC_max1＞SOC_min1；

If P_{Need to}≤P_{Supply max}Controlling the pantograph to lift and connect with a contact network for power supply, simultaneously monitoring the SOC value of the residual electric quantity of the battery system in real time, and if the SOC value of the residual electric quantity of the battery system is less than or equal to the SOC_max1Simultaneously controlling the pantograph to be communicated with the battery system to reversely charge the battery system;

if P_{Need to}＞P_{Supply max}Further judging the residual electric quantity SOC of the battery system; if the SOC of the residual electric quantity of the battery system is less than or equal to the SOC_min1Warning to indicate that the electric quantity is insufficient; if SOC > SOC_min1Controlling the pantograph to lift and connect with a contact network for power supply, and simultaneously controlling the battery system to be in a conducting state and discharge forward to P_{Need to}≤P_{Supply max}Or SOC is less than or equal to SOC_min1Status.

Preferably, if the current vehicle is in a constant-speed running working condition, the vehicle enters an automatic cruise mode, the pantograph is controlled to rise and is connected with a contact network for continuous power supply, the SOC value of the residual electric quantity of the battery system is monitored in real time, and if the SOC is less than or equal to the SOC value_max1And simultaneously controlling the pantograph to be communicated with the battery system to reversely charge the battery system.

Preferably, if the current vehicle is in a braking working condition, the pantograph is controlled to be in a disconnected and non-power-supply state, the SOC value of the residual electric quantity of the battery system is judged at the same time, and if the SOC is less than or equal to the SOC value_max2If so, controlling the conduction of the battery system, recovering the braking energy of the vehicle, and setting a second upper limit value of the residual electric quantity SOC of the battery system as the SOC_max2And SOC_max2＞SOC_max1。

Preferably, the first and second liquid crystal materials are,when the vehicle is in the braking condition, if SOC is more than SOC_max2Mechanical braking is adopted; and if the vehicle speed is finally braked to 0, the vehicle is temporarily stopped at the moment, the pantograph and the battery system are controlled to be in a disconnected and non-power-supply state, the pantograph lifting and the contact network are kept connected, and the temporary stopping state of the vehicle is uploaded to the terminal system.

Preferably, if the current vehicle is in a starting state, namely the initial speed is 0, further judging the residual electric quantity SOC of the battery system; if SOC is less than or equal to SOC_min2Prompting that external charging is required; if SOC > SOC_min2Controlling the battery system to be in a conducting state for positive discharge, and entering a battery system power supply mode; when the condition that the vehicle enters the power supply range of the contact net is monitored, controlling the pantograph to lift to be connected with the contact net for power supply, controlling the battery system to be in a disconnected and non-power-supply state, and setting a second lower limit value of the residual electric quantity SOC of the battery system as the SOC_min2And SOC_max1＞SOC_min2＞SOC_min1。

Preferably, the vehicle wirelessly interacts with the terminal system in real time in the whole running process, when the vehicle enters a contactless network segment, the vehicle is actively triggered through a wireless base station signal, the pantograph is controlled to be in a pantograph lowering, disconnected and non-power supply state, and meanwhile, the battery system is controlled to be in a conducting state to discharge in the positive direction, and then the vehicle enters a battery system power supply mode; and when the condition that the vehicle enters the power supply range of the contact net is monitored, controlling the pantograph to lift to be connected with the contact net for power supply, and controlling the battery system to be in a disconnected and non-power supply state.

Preferably, when the vehicles on the same running line need to overtake, the driver actively triggers the pantograph operation to control the pantograph to be in a pantograph-descending disconnection non-power supply state, and simultaneously controls the battery system to be in a conduction state for positive discharge to enter a battery system power supply mode; and when the condition that the vehicle enters the power supply range of the contact net is monitored, controlling the pantograph to lift to be connected with the contact net for power supply, and controlling the battery system to be in a disconnected and non-power supply state.

Preferably, when the power failure occurs due to the failure of the contact network, the terminal system automatically performs emergency treatment to control the pantograph to be in a pantograph descending disconnection non-power supply state, and simultaneously controls the battery system to be in a conduction state for positive discharge to enter a battery system power supply mode.

A bow net current collecting system adopts the whole vehicle control method, and comprises the following steps: the system comprises a vehicle control unit, a contact network, a pantograph controller, a DC/DC converter, a high-voltage distribution box, a bidirectional DC/DC converter, a battery system, a DC/AC controller and a driving motor;

the whole vehicle controller is connected and communicated with the pantograph controller, the DC/DC converter, the bidirectional DC/DC converter, the high-voltage distribution box and the DC/AC controller through a CAN network;

the pantograph controller is connected with the pantograph and controls the connection state of the pantograph and a contact network, and the pantograph is connected with the high-voltage distribution box through the DC/DC converter; the battery system is connected with the high-voltage distribution box through the bidirectional DC/DC converter and forms a double-source power supply system with the pantograph power supply system; the high-voltage distribution box is connected with a driving motor through a DC/AC controller; the vehicle control unit controls the power supply state of the vehicle during running through the power supply control circuit which controls the high-voltage distribution box.

Preferably, the power supply control circuit comprises contactors K1, K2 and K3, a contactor K1 is connected with a pantograph power supply system, a contactor K2 is connected with a battery power supply system, and contactors K1 and K2 are connected in parallel and then are connected in series with a contactor K3 and then are connected to the DC/AC controller; and the vehicle control unit controls the power supply state of the vehicle in running by controlling the closing state of each contactor.

Preferably, the pantograph-catenary current collecting system further comprises a wireless module, a video monitoring system for detecting the state of a pantograph, a power detection module for detecting driving required power, a vehicle speed monitoring module for detecting the running speed of the whole vehicle, and a BMS system for detecting the residual electric quantity SOC of a battery system of the battery system, wherein the BMS system is connected with the battery system; the wireless module, the video monitoring system, the power detection module, the vehicle speed monitoring module and the BMS are all connected and communicated with the vehicle control unit, and the vehicle control unit is communicated with the terminal system through the wireless module.

Compared with the prior art, the invention has the advantages and positive effects that:

the invention provides a whole vehicle control method suitable for a pantograph-catenary current collection system and a corresponding pantograph-catenary current collection system. When a vehicle enters a section with a contact network, the pantograph can detect a charging network, automatically extends out of the pantograph, forms a circuit loop with the contact network, and charges and provides driving energy; meanwhile, the residual electric quantity of the battery system is monitored in real time, when the residual electric quantity of the battery system is insufficient, the pantograph is connected with a contact network and can charge the battery system, and when the power supply of a pantograph power supply system is insufficient to meet the power requirement of the vehicle driving requirement, the battery system can be used for supplying power; when the vehicle is braked, the brake energy can be recovered, and the energy utilization rate is improved; in the wireless network section, the bow can be automatically reduced, and the battery system supplies power; meanwhile, the interaction between the vehicle information and a remote terminal system can be realized based on the analysis of a big data platform, the intelligent management of the whole vehicle is improved, and the safety and the transportation efficiency of the vehicle operation are improved.

Drawings

Fig. 1 is an overall architecture diagram of a bow net current collecting system;

fig. 2 is a flowchart of a vehicle control method provided in this embodiment.

Detailed Description

The following further describes embodiments of the present invention with reference to the accompanying drawings.

The invention provides a pantograph-catenary current collection system, which is constructed as shown in figure 1, and adopts a dual-source power supply system of a pantograph and a battery system, and specifically comprises a vehicle control unit, a catenary, the pantograph, a pantograph controller, a DC/DC converter, a high-voltage distribution box, a bidirectional DC/DC converter, a battery system, a DC/AC controller and a driving motor.

The pantograph controller is connected with the pantograph and controls the connection state of the pantograph and a contact network, and the pantograph is connected with the high-voltage distribution box through the DC/DC converter; the battery system is connected with the high-voltage distribution box through the bidirectional DC/DC converter and forms a double-source power supply system with the pantograph power supply system; the high-voltage distribution box is connected with a driving motor through a DC/AC controller; and a power supply control circuit for controlling the power supply access state of the two power supply systems of the pantograph and the battery system is arranged in the high-voltage distribution box.

The vehicle control unit is connected and communicated with the pantograph controller, the DC/DC converter, the bidirectional DC/DC converter, the high-voltage distribution box and the DC/AC controller through the CAN network, and the vehicle control unit controls the power supply state of the vehicle in running through controlling a power supply control circuit of the high-voltage distribution box.

Referring to fig. 1, in this embodiment, contactors K1, K2, and K3 capable of controlling each power supply branch are disposed in the high voltage distribution box, the contactor K1 is connected to a pantograph power supply system, the contactor K2 is connected to a battery power supply system, and the contactors K1 and K2 are connected in parallel, then connected in series to the contactor K3, and then connected to the DC/AC controller, thereby forming a power supply control circuit. The vehicle controller controls the power supply state of the vehicle in running by controlling the closing state of each contactor, when the contactors K1 and K3 are closed, K2 is disconnected, the pantograph is lifted to be connected with a contact network, and a pantograph power supply system is connected with power supply; when the contactors K2 and K3 are closed and K1 is disconnected, the battery system is switched in to discharge in the positive direction, and the battery system supplies power; when the contactors K1, K2 and K3 are all closed, both the pantograph power supply system and the battery system can supply power, and the pantograph power supply system can reversely charge the battery system under the condition that the residual capacity of the battery system is insufficient.

The pantograph-catenary current collecting system is further provided with a wireless module, a video monitoring system for detecting the state of a pantograph, a power detection module for detecting driving required power, a vehicle speed monitoring module for detecting the running speed of the whole vehicle, and a BMS system for detecting the residual electric quantity SOC of a battery system of the battery system, wherein the BMS system is connected with the battery system; wireless module, video monitoring system, power detection module, speed of a motor vehicle monitoring module, the BMS system all is connected the communication with vehicle control unit, the speed of a motor vehicle change in the real-time supervision whole car operation process, the size of vehicle drive required power, battery system residual capacity, and pantograph state etc, and then can realize changing according to the speed of a motor vehicle, vehicle drive required power and battery system residual capacity, the control vehicle is in the pantograph and the battery system power supply state of different operating condition, can carry out wireless interaction through wireless module and distal end terminal system simultaneously, carry out remote monitoring.

For the bow net current collecting system, the present invention specifically provides a vehicle control method suitable for the bow net current collecting system, and a flowchart is shown in fig. 2, specifically:

monitoring the vehicle speed change, the magnitude of the vehicle driving required power and the residual electric quantity of a battery system in the whole vehicle running process in real time;

according to the change of the vehicle speed, the required power of the vehicle drive and the residual electric quantity of the battery system, the power supply states of the pantograph and the battery system of the vehicle under different running working conditions are determined, and the method specifically comprises the following steps:

firstly, the speed of a vehicle at a certain moment is set as v₀The vehicle speed at the next time is v_tIf v is₀<v_tAnd an initial velocity v₀If the current vehicle is monitored to be in a starting state, further judging the residual electric quantity SOC of the battery system; if SOC is less than or equal to SOC_min2Prompting that external charging is required; if SOC > SOC_min2Controlling the battery system to be in a conducting state for positive discharge, namely closing K2 and K3, and entering a power supply mode of the battery system; when the condition that the vehicle enters a power supply range of a contact net is monitored, controlling a pantograph to lift to be connected with the contact net for power supply, and controlling a battery system to be in a disconnected and non-power supply state, namely K1 is closed, and K2 is disconnected; setting a second lower limit value of the residual capacity SOC of the battery system as SOC_min2And SOC_max1＞SOC_min2＞SOC_min1The present embodiment is specifically set to SOC_min2＝40％。

(v if)₀<v_tAnd an initial velocity v₀Not equal to 0, if the current vehicle is monitored to be in an acceleration operation working condition, the required power P of the vehicle driving is further judged_{Need to}Maximum power supply power P of pantograph contact network system_{Supply max}The size of (d);

setting a first upper limit value of the residual electric quantity SOC of the battery system as SOC_max1The first lower limit value of the residual charge SOC is SOC_min1，SOC_max1＞SOC_min1In the present embodiment, the specific setting is SOC_min1＝20％，SOC_max1＝90％；

If P_{Need to}≤P_{Supply max}Controlling the pantograph to lift to be connected with a contact net for power supply, namely closing K1 and K3 and disconnecting K2; meanwhile, the SOC value of the residual electric quantity of the battery system is monitored in real time through the BMS system, and if the SOC of the residual electric quantity of the battery system is less than or equal to the SOC_max1Simultaneously controlling the pantograph to be communicated with the battery system to reversely charge the battery system, namely closing the K2;

if P_{Need to}＞P_{Supply max}Further judging the residual electric quantity SOC of the battery system; if the SOC of the residual electric quantity of the battery system is less than or equal to the SOC_min1Warning to indicate that the electric quantity is insufficient; if SOC > SOC_min1Controlling the pantograph to lift and connect with a contact network for power supply, and simultaneously controlling the battery system to be in a conducting state and discharge forward to P_{Need to}≤P_{Supply max}Or SOC is less than or equal to SOC_min1The state that K1 and K3 are maintained to be closed at the same time K2 is closed.

V if₀＝v_tIf the current vehicle is monitored to be in a constant-speed running working condition, the vehicle enters an automatic cruise mode, and the pantograph is controlled to be lifted to be connected with a contact net for continuous power supply, namely switches K1 and K3 are closed, and K2 is disconnected; and monitoring the SOC value of the residual electric quantity of the battery system in real time, if the SOC is less than or equal to the SOC_max1And simultaneously controlling the pantograph to be communicated with the battery system to reversely charge the battery system, namely, the K2 is closed to charge the battery system through a contact net.

Iv if v₀>v_tIf the current vehicle is monitored to be in the braking working condition, the pantograph is controlled to be in the state of disconnection and no power supply, namely K1 is disconnected; simultaneously judging the SOC value of the residual electric quantity of the battery system, if the SOC is less than or equal to the SOC_max2If so, controlling the battery system to be conducted, and recovering the braking energy of the vehicle, namely closing the K2; if SOC > SOC_max2Mechanical braking is adopted; when the vehicle speed is finally braked to 0 (i.e. v)_t0), then this is doneAnd when the vehicle stops temporarily, the pantograph and the battery system are controlled to be in a disconnected and non-power-supply state, namely K1, K2 and K3 are all disconnected, the pantograph lifting is kept connected with a contact net, and the vehicle temporary stopping state is uploaded to a terminal system. Setting a second upper limit value of the residual capacity SOC of the battery system as SOC_max2In this embodiment, SOC is set_max2＝95％。

The vehicle is wirelessly interacted with a terminal system in real time in the whole running process, when the vehicle enters a contactless network segment, the vehicle is actively triggered through a wireless base station signal, the pantograph is controlled to be in a pantograph-descending disconnected non-power supply state, meanwhile, the battery system is controlled to be in a conducting state to discharge forward, and the vehicle enters a battery system power supply mode, namely K2 and K3 are closed, and K1 is disconnected; when the condition that the vehicle enters the power supply range of the contact net is monitored, the pantograph is controlled to lift to be connected with the contact net for power supply, and the battery system is controlled to be in a disconnected and non-power supply state, namely K1 and K3 are closed, and K2 is disconnected.

When the vehicles on the same running line need overtaking, the driver actively triggers the pantograph lowering operation to control the pantograph to be in a pantograph lowering off non-power supply state, and simultaneously controls the battery system to be in a conducting state for positive discharge to enter a battery system power supply mode, namely K2 and K3 are closed, and K1 is open; when the condition that the vehicle enters the power supply range of the contact net is monitored, the pantograph is controlled to lift to be connected with the contact net for power supply, and the battery system is controlled to be in a disconnected and non-power supply state, namely K1 and K3 are closed, and K2 is disconnected.

And when the contact network is in failure, the terminal system automatically carries out emergency treatment to control the pantograph to be in a pantograph descending disconnection non-power supply state, and simultaneously control the battery system to be in a conduction state for positive discharge to enter a battery system power supply mode, namely K2 and K3 are closed, and K1 is disconnected.

In conclusion, the vehicle control method provided by the invention can determine the power supply states of the pantograph and the battery system of the vehicle under different operating conditions by monitoring information such as vehicle speed change, vehicle driving required power, battery system residual capacity and the like in real time, and solves the problem of intelligent switching of multi-source energy of the vehicle adopting the pantograph-catenary current-collecting system in a non-contact network segment and a contact network segment. When a vehicle enters a section with a contact network, the pantograph can detect a charging network, automatically extends out of the pantograph, forms a circuit loop with the contact network, charges and provides driving energy, and simultaneously monitors the residual capacity of the battery system in real time; when the vehicle is braked, the brake energy can be recovered, and the energy utilization rate is improved; in a wireless network section, the bow can be automatically reduced, and the battery system supplies power to realize intelligent switching of multi-source energy; meanwhile, the interaction between the vehicle information and a remote terminal system can be realized based on the analysis of a big data platform, the intelligent management of the whole vehicle is improved, and the safety and the transportation efficiency of the vehicle operation are improved.

The above description is only a preferred embodiment of the present invention, and not intended to limit the present invention in other forms, and any person skilled in the art may apply the above modifications or changes to the equivalent embodiments with equivalent changes, without departing from the technical spirit of the present invention, and any simple modification, equivalent change and change made to the above embodiments according to the technical spirit of the present invention still belong to the protection scope of the technical spirit of the present invention.